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   &#160;<span id="projectnumber">v0.1.0</span>
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<div class="header">
  <div class="summary">
<a href="#pub-types">Public Types</a> &#124;
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="structDataBus-members.html">List of all members</a>  </div>
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<div class="title">DataBus Struct Reference</div>  </div>
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<p>The software model for data transporting.  
 <a href="structDataBus.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="data__bus_8h_source.html">data_bus.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a0dcb8a4552bb6b37259a61d601cd7d7e"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7e">LegState</a> { <a class="el" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec">LSt</a>, 
<b>RSt</b>, 
<a class="el" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7ea4b29d84a010b44b9b4110be2183ab3a2">DSt</a>
 }</td></tr>
<tr class="memdesc:a0dcb8a4552bb6b37259a61d601cd7d7e"><td class="mdescLeft">&#160;</td><td class="mdescRight">enum current leg stance states  <a href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7e">More...</a><br /></td></tr>
<tr class="separator:a0dcb8a4552bb6b37259a61d601cd7d7e"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a2fe45f9893482708677ee68305685b72"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a2fe45f9893482708677ee68305685b72">DataBus</a> (int model_nvIn)</td></tr>
<tr class="memdesc:a2fe45f9893482708677ee68305685b72"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a new Data Bus object.  <a href="structDataBus.html#a2fe45f9893482708677ee68305685b72">More...</a><br /></td></tr>
<tr class="separator:a2fe45f9893482708677ee68305685b72"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1673b53d2c783faaf80cb549c2065d78"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a1673b53d2c783faaf80cb549c2065d78">updateQ</a> ()</td></tr>
<tr class="memdesc:a1673b53d2c783faaf80cb549c2065d78"><td class="mdescLeft">&#160;</td><td class="mdescRight">update q (generalized coordinate) according to sensor values  <a href="structDataBus.html#a1673b53d2c783faaf80cb549c2065d78">More...</a><br /></td></tr>
<tr class="separator:a1673b53d2c783faaf80cb549c2065d78"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af2ffb1739963462a7dfc20fc1e4a6192"><td class="memItemLeft" align="right" valign="top">Eigen::Matrix&lt; double, 3, 3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#af2ffb1739963462a7dfc20fc1e4a6192">eul2Rot</a> (double roll, double pitch, double yaw)</td></tr>
<tr class="memdesc:af2ffb1739963462a7dfc20fc1e4a6192"><td class="mdescLeft">&#160;</td><td class="mdescRight">compute the rotation matrix using euler angle  <a href="structDataBus.html#af2ffb1739963462a7dfc20fc1e4a6192">More...</a><br /></td></tr>
<tr class="separator:af2ffb1739963462a7dfc20fc1e4a6192"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad2308a852d46c6b1471c2253bd129620"><td class="memItemLeft" align="right" valign="top">Eigen::Quaterniond&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ad2308a852d46c6b1471c2253bd129620">eul2quat</a> (double roll, double pitch, double yaw)</td></tr>
<tr class="memdesc:ad2308a852d46c6b1471c2253bd129620"><td class="mdescLeft">&#160;</td><td class="mdescRight">compute quaternoin from euler angle  <a href="structDataBus.html#ad2308a852d46c6b1471c2253bd129620">More...</a><br /></td></tr>
<tr class="separator:ad2308a852d46c6b1471c2253bd129620"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:addcaefa0eeba96ed370e8b24e4ebd940"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#addcaefa0eeba96ed370e8b24e4ebd940">printdq</a> (const Eigen::VectorXd &amp;<a class="el" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>)</td></tr>
<tr class="memdesc:addcaefa0eeba96ed370e8b24e4ebd940"><td class="mdescLeft">&#160;</td><td class="mdescRight">print the information of dq to the terminal  <a href="structDataBus.html#addcaefa0eeba96ed370e8b24e4ebd940">More...</a><br /></td></tr>
<tr class="separator:addcaefa0eeba96ed370e8b24e4ebd940"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8879e68efdd97fdada83e7b28b3c4bca"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a8879e68efdd97fdada83e7b28b3c4bca">printq</a> (const Eigen::VectorXd &amp;<a class="el" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>)</td></tr>
<tr class="memdesc:a8879e68efdd97fdada83e7b28b3c4bca"><td class="mdescLeft">&#160;</td><td class="mdescRight">print the information of q to the terminal  <a href="structDataBus.html#a8879e68efdd97fdada83e7b28b3c4bca">More...</a><br /></td></tr>
<tr class="separator:a8879e68efdd97fdada83e7b28b3c4bca"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:ab9671a85da9b64c8be6c8d7d822c3db9"><td class="memItemLeft" align="right" valign="top"><a id="ab9671a85da9b64c8be6c8d7d822c3db9"></a>
const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ab9671a85da9b64c8be6c8d7d822c3db9">model_nv</a></td></tr>
<tr class="memdesc:ab9671a85da9b64c8be6c8d7d822c3db9"><td class="mdescLeft">&#160;</td><td class="mdescRight">number of the degree of freedom of the model, i.e. dq <br /></td></tr>
<tr class="separator:ab9671a85da9b64c8be6c8d7d822c3db9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae91319ee83a8cf354911f14955449283"><td class="memItemLeft" align="right" valign="top"><a id="ae91319ee83a8cf354911f14955449283"></a>
const Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ae91319ee83a8cf354911f14955449283">fe_L_rot_L_off</a> =(Eigen::MatrixXd(3,3)&lt;&lt; 1,0,0, 0,1,0, 0,0,1).finished()</td></tr>
<tr class="memdesc:ae91319ee83a8cf354911f14955449283"><td class="mdescLeft">&#160;</td><td class="mdescRight">left foot-end Rotation matrix w.r.t the local(body) frame in offset posture <br /></td></tr>
<tr class="separator:ae91319ee83a8cf354911f14955449283"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af13c859c256c7844154a2aac483123bd"><td class="memItemLeft" align="right" valign="top"><a id="af13c859c256c7844154a2aac483123bd"></a>
const Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#af13c859c256c7844154a2aac483123bd">fe_R_rot_L_off</a> =(Eigen::MatrixXd(3,3)&lt;&lt; 1,0,0, 0,1,0, 0,0,1).finished()</td></tr>
<tr class="memdesc:af13c859c256c7844154a2aac483123bd"><td class="mdescLeft">&#160;</td><td class="mdescRight">right foot-end Rotation matrix w.r.t the local(body) frame in offset posture <br /></td></tr>
<tr class="separator:af13c859c256c7844154a2aac483123bd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9b45a5287b92f51cc27899eee18f9ff2"><td class="memItemLeft" align="right" valign="top"><a id="a9b45a5287b92f51cc27899eee18f9ff2"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">rpy</a> [3]</td></tr>
<tr class="memdesc:a9b45a5287b92f51cc27899eee18f9ff2"><td class="mdescLeft">&#160;</td><td class="mdescRight">roll, pitch, yaw angle of the robot body in world frame <br /></td></tr>
<tr class="separator:a9b45a5287b92f51cc27899eee18f9ff2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aadc53e4bcea2d069903b5de3274d5058"><td class="memItemLeft" align="right" valign="top"><a id="aadc53e4bcea2d069903b5de3274d5058"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#aadc53e4bcea2d069903b5de3274d5058">fL</a> [3]</td></tr>
<tr class="memdesc:aadc53e4bcea2d069903b5de3274d5058"><td class="mdescLeft">&#160;</td><td class="mdescRight">reaction force from ground to the left foot of the robot <br /></td></tr>
<tr class="separator:aadc53e4bcea2d069903b5de3274d5058"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab3279b454456687b2293f804b7e70390"><td class="memItemLeft" align="right" valign="top"><a id="ab3279b454456687b2293f804b7e70390"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ab3279b454456687b2293f804b7e70390">fR</a> [3]</td></tr>
<tr class="memdesc:ab3279b454456687b2293f804b7e70390"><td class="mdescLeft">&#160;</td><td class="mdescRight">reaction force from ground to the right foot of the robot <br /></td></tr>
<tr class="separator:ab3279b454456687b2293f804b7e70390"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a66bfad87a864abd89bd6a0308e65ebc4"><td class="memItemLeft" align="right" valign="top"><a id="a66bfad87a864abd89bd6a0308e65ebc4"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a66bfad87a864abd89bd6a0308e65ebc4">basePos</a> [3]</td></tr>
<tr class="memdesc:a66bfad87a864abd89bd6a0308e65ebc4"><td class="mdescLeft">&#160;</td><td class="mdescRight">linear position of the base(body) of the robot <br /></td></tr>
<tr class="separator:a66bfad87a864abd89bd6a0308e65ebc4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5b79678006c606fc8e70a082f4fb1fe4"><td class="memItemLeft" align="right" valign="top"><a id="a5b79678006c606fc8e70a082f4fb1fe4"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a5b79678006c606fc8e70a082f4fb1fe4">baseLinVel</a> [3]</td></tr>
<tr class="memdesc:a5b79678006c606fc8e70a082f4fb1fe4"><td class="mdescLeft">&#160;</td><td class="mdescRight">linear velocity of the base(body) of the robot <br /></td></tr>
<tr class="separator:a5b79678006c606fc8e70a082f4fb1fe4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0197a7fdd8fd08faa9981b7e9f758a2d"><td class="memItemLeft" align="right" valign="top"><a id="a0197a7fdd8fd08faa9981b7e9f758a2d"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a0197a7fdd8fd08faa9981b7e9f758a2d">baseAcc</a> [3]</td></tr>
<tr class="memdesc:a0197a7fdd8fd08faa9981b7e9f758a2d"><td class="mdescLeft">&#160;</td><td class="mdescRight">linear acceleration of the base link <br /></td></tr>
<tr class="separator:a0197a7fdd8fd08faa9981b7e9f758a2d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acc95bd4d4d7820893823fc0ad5ac3526"><td class="memItemLeft" align="right" valign="top"><a id="acc95bd4d4d7820893823fc0ad5ac3526"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#acc95bd4d4d7820893823fc0ad5ac3526">baseAngVel</a> [3]</td></tr>
<tr class="memdesc:acc95bd4d4d7820893823fc0ad5ac3526"><td class="mdescLeft">&#160;</td><td class="mdescRight">angular velocity of the base link <br /></td></tr>
<tr class="separator:acc95bd4d4d7820893823fc0ad5ac3526"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a44f2d7d4c5921d086e842faf04d6b5e3"><td class="memItemLeft" align="right" valign="top"><a id="a44f2d7d4c5921d086e842faf04d6b5e3"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a44f2d7d4c5921d086e842faf04d6b5e3">motors_pos_cur</a></td></tr>
<tr class="memdesc:a44f2d7d4c5921d086e842faf04d6b5e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">all current motors position <br /></td></tr>
<tr class="separator:a44f2d7d4c5921d086e842faf04d6b5e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6e174173373c09044fe77214ac22d61b"><td class="memItemLeft" align="right" valign="top"><a id="a6e174173373c09044fe77214ac22d61b"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a6e174173373c09044fe77214ac22d61b">motors_vel_cur</a></td></tr>
<tr class="memdesc:a6e174173373c09044fe77214ac22d61b"><td class="mdescLeft">&#160;</td><td class="mdescRight">all current motors velocity <br /></td></tr>
<tr class="separator:a6e174173373c09044fe77214ac22d61b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1996047c3f808dda9f4cc3944d0d486a"><td class="memItemLeft" align="right" valign="top"><a id="a1996047c3f808dda9f4cc3944d0d486a"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a1996047c3f808dda9f4cc3944d0d486a">motors_tor_cur</a></td></tr>
<tr class="memdesc:a1996047c3f808dda9f4cc3944d0d486a"><td class="mdescLeft">&#160;</td><td class="mdescRight">all current motors torque <br /></td></tr>
<tr class="separator:a1996047c3f808dda9f4cc3944d0d486a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab45a37863d3650eb9fde838c427eea72"><td class="memItemLeft" align="right" valign="top"><a id="ab45a37863d3650eb9fde838c427eea72"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ab45a37863d3650eb9fde838c427eea72">FL_est</a></td></tr>
<tr class="memdesc:ab45a37863d3650eb9fde838c427eea72"><td class="mdescLeft">&#160;</td><td class="mdescRight">estimation of the ground reaction force of left leg <br /></td></tr>
<tr class="separator:ab45a37863d3650eb9fde838c427eea72"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a15ddd144e2234a2bb6e33b8c2da92b8e"><td class="memItemLeft" align="right" valign="top"><a id="a15ddd144e2234a2bb6e33b8c2da92b8e"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a15ddd144e2234a2bb6e33b8c2da92b8e">FR_est</a></td></tr>
<tr class="memdesc:a15ddd144e2234a2bb6e33b8c2da92b8e"><td class="mdescLeft">&#160;</td><td class="mdescRight">estimation of the ground reaction force of right leg <br /></td></tr>
<tr class="separator:a15ddd144e2234a2bb6e33b8c2da92b8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8426d381e3812f1223a8029f5f0ca5a3"><td class="memItemLeft" align="right" valign="top"><a id="a8426d381e3812f1223a8029f5f0ca5a3"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a8426d381e3812f1223a8029f5f0ca5a3">motors_pos_des</a></td></tr>
<tr class="memdesc:a8426d381e3812f1223a8029f5f0ca5a3"><td class="mdescLeft">&#160;</td><td class="mdescRight">all desired motors position <br /></td></tr>
<tr class="separator:a8426d381e3812f1223a8029f5f0ca5a3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0510f771e207671abbddd60b94cc58fb"><td class="memItemLeft" align="right" valign="top"><a id="a0510f771e207671abbddd60b94cc58fb"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a0510f771e207671abbddd60b94cc58fb">motors_vel_des</a></td></tr>
<tr class="memdesc:a0510f771e207671abbddd60b94cc58fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">all desired motors velocity <br /></td></tr>
<tr class="separator:a0510f771e207671abbddd60b94cc58fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9c4fd58f3ce8b0d79f96431c45e3dc87"><td class="memItemLeft" align="right" valign="top"><a id="a9c4fd58f3ce8b0d79f96431c45e3dc87"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a9c4fd58f3ce8b0d79f96431c45e3dc87">motors_tor_des</a></td></tr>
<tr class="memdesc:a9c4fd58f3ce8b0d79f96431c45e3dc87"><td class="mdescLeft">&#160;</td><td class="mdescRight">all desired motors torque <br /></td></tr>
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std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a146a3c93dea478ed4c2bc88d120a6204">motors_tor_out</a></td></tr>
<tr class="memdesc:a146a3c93dea478ed4c2bc88d120a6204"><td class="mdescLeft">&#160;</td><td class="mdescRight">all final output motors torque <br /></td></tr>
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Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a></td></tr>
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Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a0564a337e371809806d164ce3946de28">ddq</a></td></tr>
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Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#acca5e5ffdbc107b465d5c291617e34a6">qOld</a></td></tr>
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Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a72d6adca7adb79b4ed026eb6a75b7dce">J_base</a></td></tr>
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Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a3d71c2856c6ecbfec729a09024d026f8">J_l</a></td></tr>
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Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a8901e359598639544806c2ccde5cc7b3">J_r</a></td></tr>
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Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a160475450d1af7e42d88d345c498f5ae">J_hd_l</a></td></tr>
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Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a8174314fc64353b48695467949dddb20">J_hd_r</a></td></tr>
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Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ad3ec45a371e1a6cb72a158e651647cd6">dJ_base</a></td></tr>
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Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#af02ef8e966761be5381e8f8ce1f4f324">dJ_l</a></td></tr>
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Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#aad4b760c5cb1103d2409810f887cace3">dJ_r</a></td></tr>
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Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a6e6e46a9c55551f1f13b82d9f62ec1fc">dJ_hd_l</a></td></tr>
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Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ab99c2d927ac41782cefe44509bf20322">dJ_hd_r</a></td></tr>
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Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a1bb8296c8580550caf059e975149658e">fe_r_pos_W</a></td></tr>
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Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a05ae4114523a0df9822667297ba5046d">fe_l_pos_W</a></td></tr>
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Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a7bb7e1397ba963e17e1f840cc7abd610">base_pos</a></td></tr>
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Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ad8eeb01c84d65c903a3e6190925af3f2">fe_r_rot_W</a></td></tr>
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Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a97432e506d995437e3cb622002cac9d4">fe_l_rot_W</a></td></tr>
<tr class="memdesc:a97432e506d995437e3cb622002cac9d4"><td class="mdescLeft">&#160;</td><td class="mdescRight">left foot rotation matrix in world frame <br /></td></tr>
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Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a0113f7940144a8e35089fd9818e8d70b">base_rot</a></td></tr>
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Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ad4c67bd1538d0e0c6f101de61219666a">fe_r_pos_L</a></td></tr>
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Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a3300095871d62258ed87b0a8b00e6b95">fe_l_pos_L</a></td></tr>
<tr class="memdesc:a3300095871d62258ed87b0a8b00e6b95"><td class="mdescLeft">&#160;</td><td class="mdescRight">left foot position in body frame <br /></td></tr>
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Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a614b57b26f48851c0da4a87721efe71b">hip_r_pos_L</a></td></tr>
<tr class="memdesc:a614b57b26f48851c0da4a87721efe71b"><td class="mdescLeft">&#160;</td><td class="mdescRight">right hip position in body frame <br /></td></tr>
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Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a2481f4929359c2f0fbdb6924f5f77958">hip_l_pos_W</a></td></tr>
<tr class="memdesc:a2481f4929359c2f0fbdb6924f5f77958"><td class="mdescLeft">&#160;</td><td class="mdescRight">left hip position in world frame <br /></td></tr>
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<tr class="memdesc:a38c64e972770545c6756d4d942dbaef4"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired command of right foot position in body frame <br /></td></tr>
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Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ae96ef6b47b338248de9ba62fb99b7879">fe_r_rot_L_cmd</a></td></tr>
<tr class="memdesc:ae96ef6b47b338248de9ba62fb99b7879"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired command of right foot rotation matrix in body frame <br /></td></tr>
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<tr class="memitem:a2bb16ba735000cbab0dfa8de182a11ab"><td class="memItemLeft" align="right" valign="top"><a id="a2bb16ba735000cbab0dfa8de182a11ab"></a>
Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a2bb16ba735000cbab0dfa8de182a11ab">fe_l_rot_L_cmd</a></td></tr>
<tr class="memdesc:a2bb16ba735000cbab0dfa8de182a11ab"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired command of left foot rotation matrix in body frame <br /></td></tr>
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<tr class="memitem:aa1bf2f25cbec034e564125d6890df8f7"><td class="memItemLeft" align="right" valign="top"><a id="aa1bf2f25cbec034e564125d6890df8f7"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#aa1bf2f25cbec034e564125d6890df8f7">hd_r_pos_W</a></td></tr>
<tr class="memdesc:aa1bf2f25cbec034e564125d6890df8f7"><td class="mdescLeft">&#160;</td><td class="mdescRight">right hand position in world frame <br /></td></tr>
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<tr class="memitem:a9582a6fdf672e9dd3f08a390758aafaf"><td class="memItemLeft" align="right" valign="top"><a id="a9582a6fdf672e9dd3f08a390758aafaf"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a9582a6fdf672e9dd3f08a390758aafaf">hd_l_pos_W</a></td></tr>
<tr class="memdesc:a9582a6fdf672e9dd3f08a390758aafaf"><td class="mdescLeft">&#160;</td><td class="mdescRight">left hand position in world frame <br /></td></tr>
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<tr class="memitem:a2ebe414c042f067bc8819b43c9436832"><td class="memItemLeft" align="right" valign="top"><a id="a2ebe414c042f067bc8819b43c9436832"></a>
Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a2ebe414c042f067bc8819b43c9436832">hd_r_rot_W</a></td></tr>
<tr class="memdesc:a2ebe414c042f067bc8819b43c9436832"><td class="mdescLeft">&#160;</td><td class="mdescRight">right hand rotation matrix in world frame <br /></td></tr>
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<tr class="memitem:a0b4be606ac9be86dc76f6e562d4af358"><td class="memItemLeft" align="right" valign="top"><a id="a0b4be606ac9be86dc76f6e562d4af358"></a>
Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a0b4be606ac9be86dc76f6e562d4af358">hd_l_rot_W</a></td></tr>
<tr class="memdesc:a0b4be606ac9be86dc76f6e562d4af358"><td class="mdescLeft">&#160;</td><td class="mdescRight">left hand rotation matrix in world frame <br /></td></tr>
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<tr class="memitem:ab7eb16bbdf791e8f4e08e10cacf9e1fa"><td class="memItemLeft" align="right" valign="top"><a id="ab7eb16bbdf791e8f4e08e10cacf9e1fa"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ab7eb16bbdf791e8f4e08e10cacf9e1fa">hd_r_pos_L</a></td></tr>
<tr class="memdesc:ab7eb16bbdf791e8f4e08e10cacf9e1fa"><td class="mdescLeft">&#160;</td><td class="mdescRight">left hand position in body frame <br /></td></tr>
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<tr class="memitem:aa460fea6d01355839c3508373c607170"><td class="memItemLeft" align="right" valign="top"><a id="aa460fea6d01355839c3508373c607170"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#aa460fea6d01355839c3508373c607170">hd_l_pos_L</a></td></tr>
<tr class="memdesc:aa460fea6d01355839c3508373c607170"><td class="mdescLeft">&#160;</td><td class="mdescRight">right hand position in body frame <br /></td></tr>
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<tr class="memitem:a30ea99f034a267da0c909900a972f132"><td class="memItemLeft" align="right" valign="top"><a id="a30ea99f034a267da0c909900a972f132"></a>
Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a30ea99f034a267da0c909900a972f132">hd_r_rot_L</a></td></tr>
<tr class="memdesc:a30ea99f034a267da0c909900a972f132"><td class="mdescLeft">&#160;</td><td class="mdescRight">left hand rotation matrix in body frame <br /></td></tr>
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<tr class="memitem:a938f8a1673963dde6924779b9377f3f6"><td class="memItemLeft" align="right" valign="top"><a id="a938f8a1673963dde6924779b9377f3f6"></a>
Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a938f8a1673963dde6924779b9377f3f6">hd_l_rot_L</a></td></tr>
<tr class="memdesc:a938f8a1673963dde6924779b9377f3f6"><td class="mdescLeft">&#160;</td><td class="mdescRight">right hand rotation matrix in body frame <br /></td></tr>
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<tr class="memitem:a985be244042640dea42db4147c4e625b"><td class="memItemLeft" align="right" valign="top"><a id="a985be244042640dea42db4147c4e625b"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a985be244042640dea42db4147c4e625b">qCmd</a></td></tr>
<tr class="memdesc:a985be244042640dea42db4147c4e625b"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired command of position variable <br /></td></tr>
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<tr class="memitem:a6a5d9134fc0bae50e92f0dbf4c827544"><td class="memItemLeft" align="right" valign="top"><a id="a6a5d9134fc0bae50e92f0dbf4c827544"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a6a5d9134fc0bae50e92f0dbf4c827544">dqCmd</a></td></tr>
<tr class="memdesc:a6a5d9134fc0bae50e92f0dbf4c827544"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired command of velocity variable <br /></td></tr>
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<tr class="memitem:a6c1e3ed7c41b379a2f60ba5ee67f2ed9"><td class="memItemLeft" align="right" valign="top"><a id="a6c1e3ed7c41b379a2f60ba5ee67f2ed9"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a6c1e3ed7c41b379a2f60ba5ee67f2ed9">tauJointCmd</a></td></tr>
<tr class="memdesc:a6c1e3ed7c41b379a2f60ba5ee67f2ed9"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired torque of the joint <br /></td></tr>
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<tr class="memitem:a89e3ed169f2093e233629aebeb105fbc"><td class="memItemLeft" align="right" valign="top"><a id="a89e3ed169f2093e233629aebeb105fbc"></a>
Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a89e3ed169f2093e233629aebeb105fbc">dyn_M</a></td></tr>
<tr class="memdesc:a89e3ed169f2093e233629aebeb105fbc"><td class="mdescLeft">&#160;</td><td class="mdescRight">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau <br /></td></tr>
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<tr class="memitem:a7ddad63ca212708e9e3c880567c9f99a"><td class="memItemLeft" align="right" valign="top"><a id="a7ddad63ca212708e9e3c880567c9f99a"></a>
Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a7ddad63ca212708e9e3c880567c9f99a">dyn_M_inv</a></td></tr>
<tr class="memdesc:a7ddad63ca212708e9e3c880567c9f99a"><td class="mdescLeft">&#160;</td><td class="mdescRight">inverse of dynamic parameters dyn_M <br /></td></tr>
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<tr class="memitem:ac2c307051d65ea3679fdc630ac28bbc2"><td class="memItemLeft" align="right" valign="top"><a id="ac2c307051d65ea3679fdc630ac28bbc2"></a>
Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ac2c307051d65ea3679fdc630ac28bbc2">dyn_C</a></td></tr>
<tr class="memdesc:ac2c307051d65ea3679fdc630ac28bbc2"><td class="mdescLeft">&#160;</td><td class="mdescRight">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau <br /></td></tr>
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<tr class="memitem:ad7a084dee55715eb8e65307137d71ee5"><td class="memItemLeft" align="right" valign="top"><a id="ad7a084dee55715eb8e65307137d71ee5"></a>
Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ad7a084dee55715eb8e65307137d71ee5">dyn_Ag</a></td></tr>
<tr class="memdesc:ad7a084dee55715eb8e65307137d71ee5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Centroidal Momentum Matrix. <br /></td></tr>
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<tr class="memitem:ae46a01b6e4a05927577e0f9a58bb9528"><td class="memItemLeft" align="right" valign="top"><a id="ae46a01b6e4a05927577e0f9a58bb9528"></a>
Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ae46a01b6e4a05927577e0f9a58bb9528">dyn_dAg</a></td></tr>
<tr class="memdesc:ae46a01b6e4a05927577e0f9a58bb9528"><td class="mdescLeft">&#160;</td><td class="mdescRight">Centroidal Momentum Matrix time variant. <br /></td></tr>
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<tr class="memitem:a29ea8abda4616465d07ecacf866f7ab6"><td class="memItemLeft" align="right" valign="top"><a id="a29ea8abda4616465d07ecacf866f7ab6"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a29ea8abda4616465d07ecacf866f7ab6">dyn_G</a></td></tr>
<tr class="memdesc:a29ea8abda4616465d07ecacf866f7ab6"><td class="mdescLeft">&#160;</td><td class="mdescRight">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau <br /></td></tr>
<tr class="separator:a29ea8abda4616465d07ecacf866f7ab6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a377a7cdd1719fbdd45391759c52937f4"><td class="memItemLeft" align="right" valign="top"><a id="a377a7cdd1719fbdd45391759c52937f4"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a377a7cdd1719fbdd45391759c52937f4">dyn_Non</a></td></tr>
<tr class="memdesc:a377a7cdd1719fbdd45391759c52937f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau, dyn_Non=dyn_C*dq+dyn_G <br /></td></tr>
<tr class="separator:a377a7cdd1719fbdd45391759c52937f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae779042fd8fb64ba3e21a505c5f1a6d6"><td class="memItemLeft" align="right" valign="top"><a id="ae779042fd8fb64ba3e21a505c5f1a6d6"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ae779042fd8fb64ba3e21a505c5f1a6d6">base_omega_L</a></td></tr>
<tr class="memdesc:ae779042fd8fb64ba3e21a505c5f1a6d6"><td class="mdescLeft">&#160;</td><td class="mdescRight">body angle velocity expressed in local frame <br /></td></tr>
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<tr class="memitem:aafbebba614c6bc9e1cebd6a432a44ad2"><td class="memItemLeft" align="right" valign="top"><a id="aafbebba614c6bc9e1cebd6a432a44ad2"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#aafbebba614c6bc9e1cebd6a432a44ad2">base_omega_W</a></td></tr>
<tr class="memdesc:aafbebba614c6bc9e1cebd6a432a44ad2"><td class="mdescLeft">&#160;</td><td class="mdescRight">body angle velocity expressed in world frame <br /></td></tr>
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<tr class="memitem:a707d4278aa346e8677a87c95f6edb7bb"><td class="memItemLeft" align="right" valign="top"><a id="a707d4278aa346e8677a87c95f6edb7bb"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a707d4278aa346e8677a87c95f6edb7bb">base_rpy</a></td></tr>
<tr class="memdesc:a707d4278aa346e8677a87c95f6edb7bb"><td class="mdescLeft">&#160;</td><td class="mdescRight">rpy angle expressed in Eigen type in world frame <br /></td></tr>
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<tr class="memitem:aede1ab3d0316d9f1d1f5275c35282f33"><td class="memItemLeft" align="right" valign="top"><a id="aede1ab3d0316d9f1d1f5275c35282f33"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#aede1ab3d0316d9f1d1f5275c35282f33">slop</a></td></tr>
<tr class="memdesc:aede1ab3d0316d9f1d1f5275c35282f33"><td class="mdescLeft">&#160;</td><td class="mdescRight">the foot slope, expressed in euler angle <br /></td></tr>
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<tr class="memitem:a5e70930038178da11905e640cfb957d3"><td class="memItemLeft" align="right" valign="top"><a id="a5e70930038178da11905e640cfb957d3"></a>
Eigen::Matrix&lt; double, 3, 3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a5e70930038178da11905e640cfb957d3">inertia</a></td></tr>
<tr class="memdesc:a5e70930038178da11905e640cfb957d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">whole body inertia matrix w.r.t center of mass of robot, computed from pinocchio and used in <a class="el" href="classMPC.html" title="This class implements the model predictive controller.">MPC</a> module <br /></td></tr>
<tr class="separator:a5e70930038178da11905e640cfb957d3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a92a868be7ed2d886f266e844399762dd"><td class="memItemLeft" align="right" valign="top"><a id="a92a868be7ed2d886f266e844399762dd"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a92a868be7ed2d886f266e844399762dd">js_eul_des</a></td></tr>
<tr class="memdesc:a92a868be7ed2d886f266e844399762dd"><td class="mdescLeft">&#160;</td><td class="mdescRight">euler angle command from joystick controller in body frame, for now, only yaw is controllable <br /></td></tr>
<tr class="separator:a92a868be7ed2d886f266e844399762dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a298ff350cb0f7dc9679fb90909aa4650"><td class="memItemLeft" align="right" valign="top"><a id="a298ff350cb0f7dc9679fb90909aa4650"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a298ff350cb0f7dc9679fb90909aa4650">js_pos_des</a></td></tr>
<tr class="memdesc:a298ff350cb0f7dc9679fb90909aa4650"><td class="mdescLeft">&#160;</td><td class="mdescRight">position command from joystick controller in world frame <br /></td></tr>
<tr class="separator:a298ff350cb0f7dc9679fb90909aa4650"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a176bf04fd501acfa68ee3083532df705"><td class="memItemLeft" align="right" valign="top"><a id="a176bf04fd501acfa68ee3083532df705"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a176bf04fd501acfa68ee3083532df705">js_omega_des</a></td></tr>
<tr class="memdesc:a176bf04fd501acfa68ee3083532df705"><td class="mdescLeft">&#160;</td><td class="mdescRight">angle velocity command from joystick controller in body frame, for now, only omega along z-axis is controllable <br /></td></tr>
<tr class="separator:a176bf04fd501acfa68ee3083532df705"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a05de3821b1aa986adc8a98ec8469d55a"><td class="memItemLeft" align="right" valign="top"><a id="a05de3821b1aa986adc8a98ec8469d55a"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a05de3821b1aa986adc8a98ec8469d55a">js_vel_des</a></td></tr>
<tr class="memdesc:a05de3821b1aa986adc8a98ec8469d55a"><td class="mdescLeft">&#160;</td><td class="mdescRight">velocity command from joystick controller in world frame <br /></td></tr>
<tr class="separator:a05de3821b1aa986adc8a98ec8469d55a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af419057fb271481e6a87001d5610eb8e"><td class="memItemLeft" align="right" valign="top"><a id="af419057fb271481e6a87001d5610eb8e"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#af419057fb271481e6a87001d5610eb8e">Xd</a></td></tr>
<tr class="memdesc:af419057fb271481e6a87001d5610eb8e"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired X state variable in <a class="el" href="classMPC.html" title="This class implements the model predictive controller.">MPC</a> module <br /></td></tr>
<tr class="separator:af419057fb271481e6a87001d5610eb8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af0d2fc25fbd40d7ac179b5779f2c40ff"><td class="memItemLeft" align="right" valign="top"><a id="af0d2fc25fbd40d7ac179b5779f2c40ff"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#af0d2fc25fbd40d7ac179b5779f2c40ff">X_cur</a></td></tr>
<tr class="memdesc:af0d2fc25fbd40d7ac179b5779f2c40ff"><td class="mdescLeft">&#160;</td><td class="mdescRight">current X state variable in <a class="el" href="classMPC.html" title="This class implements the model predictive controller.">MPC</a> module <br /></td></tr>
<tr class="separator:af0d2fc25fbd40d7ac179b5779f2c40ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0e9b3fcc75265308f10ba5862815087a"><td class="memItemLeft" align="right" valign="top"><a id="a0e9b3fcc75265308f10ba5862815087a"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a0e9b3fcc75265308f10ba5862815087a">X_cal</a></td></tr>
<tr class="memdesc:a0e9b3fcc75265308f10ba5862815087a"><td class="mdescLeft">&#160;</td><td class="mdescRight">predict X state variable result calculated by <a class="el" href="classMPC.html" title="This class implements the model predictive controller.">MPC</a> <br /></td></tr>
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<tr class="memitem:acd18e8fba3e72021ab80a98aa369c8f4"><td class="memItemLeft" align="right" valign="top"><a id="acd18e8fba3e72021ab80a98aa369c8f4"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#acd18e8fba3e72021ab80a98aa369c8f4">dX_cal</a></td></tr>
<tr class="memdesc:acd18e8fba3e72021ab80a98aa369c8f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">predict dX ( \(\dot{X}\)) calculated using X_cal <br /></td></tr>
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<tr class="memitem:afd875c0de2f7f46587f3ebe4ae73d2fa"><td class="memItemLeft" align="right" valign="top"><a id="afd875c0de2f7f46587f3ebe4ae73d2fa"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#afd875c0de2f7f46587f3ebe4ae73d2fa">fe_react_tau_cmd</a></td></tr>
<tr class="memdesc:afd875c0de2f7f46587f3ebe4ae73d2fa"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired ground reaction force predicted by <a class="el" href="classMPC.html" title="This class implements the model predictive controller.">MPC</a> during all the horizons <br /></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#aa0f7ebdfdf0f8f731c742bed2e6303ed">qp_nWSR_MPC</a></td></tr>
<tr class="memdesc:aa0f7ebdfdf0f8f731c742bed2e6303ed"><td class="mdescLeft">&#160;</td><td class="mdescRight">QP solver parameter. <br /></td></tr>
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<tr class="memitem:a6f017e61e7fc6b9c45ef671a710b34bc"><td class="memItemLeft" align="right" valign="top"><a id="a6f017e61e7fc6b9c45ef671a710b34bc"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a6f017e61e7fc6b9c45ef671a710b34bc">qp_cpuTime_MPC</a></td></tr>
<tr class="memdesc:a6f017e61e7fc6b9c45ef671a710b34bc"><td class="mdescLeft">&#160;</td><td class="mdescRight">QP solver parameter - solving time,. <br /></td></tr>
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<tr class="memitem:a252ca3e33ac63c8f45edfff68100189e"><td class="memItemLeft" align="right" valign="top"><a id="a252ca3e33ac63c8f45edfff68100189e"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a252ca3e33ac63c8f45edfff68100189e">qpStatus_MPC</a></td></tr>
<tr class="memdesc:a252ca3e33ac63c8f45edfff68100189e"><td class="mdescLeft">&#160;</td><td class="mdescRight">QP solver parameter - solving outcomes (successful or not) <br /></td></tr>
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<tr class="memitem:af03f33eb3cb6bcf43ff21cee18b2a2e6"><td class="memItemLeft" align="right" valign="top"><a id="af03f33eb3cb6bcf43ff21cee18b2a2e6"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#af03f33eb3cb6bcf43ff21cee18b2a2e6">base_rpy_des</a></td></tr>
<tr class="memdesc:af03f33eb3cb6bcf43ff21cee18b2a2e6"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired body euler angle in world frame <br /></td></tr>
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<tr class="memitem:ac4981d5de060aa4bb117f39c2563c6ba"><td class="memItemLeft" align="right" valign="top"><a id="ac4981d5de060aa4bb117f39c2563c6ba"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ac4981d5de060aa4bb117f39c2563c6ba">base_pos_des</a></td></tr>
<tr class="memdesc:ac4981d5de060aa4bb117f39c2563c6ba"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired body position in world frame <br /></td></tr>
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<tr class="memitem:a131e7ab67172ee9934441b5c00187363"><td class="memItemLeft" align="right" valign="top"><a id="a131e7ab67172ee9934441b5c00187363"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a131e7ab67172ee9934441b5c00187363">des_ddq</a></td></tr>
<tr class="memdesc:a131e7ab67172ee9934441b5c00187363"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired generalized acceleration <br /></td></tr>
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<tr class="memitem:a4c495f9b2d97807c38e726dbada293a7"><td class="memItemLeft" align="right" valign="top"><a id="a4c495f9b2d97807c38e726dbada293a7"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a4c495f9b2d97807c38e726dbada293a7">des_dq</a></td></tr>
<tr class="memdesc:a4c495f9b2d97807c38e726dbada293a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired generalized velocity <br /></td></tr>
<tr class="separator:a4c495f9b2d97807c38e726dbada293a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a09bff47a59cfc71aff09f62df7f4f95e"><td class="memItemLeft" align="right" valign="top"><a id="a09bff47a59cfc71aff09f62df7f4f95e"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a09bff47a59cfc71aff09f62df7f4f95e">des_delta_q</a></td></tr>
<tr class="memdesc:a09bff47a59cfc71aff09f62df7f4f95e"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired generalized position increment (usually dq * dt) <br /></td></tr>
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<tr class="memitem:aa1b32738002109b3d8dafb4fd61dac2f"><td class="memItemLeft" align="right" valign="top"><a id="aa1b32738002109b3d8dafb4fd61dac2f"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#aa1b32738002109b3d8dafb4fd61dac2f">des_q</a></td></tr>
<tr class="memdesc:aa1b32738002109b3d8dafb4fd61dac2f"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired generalized position <br /></td></tr>
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<tr class="memitem:aa0e8b071bd5d432229b0f31ef839c3f3"><td class="memItemLeft" align="right" valign="top"><a id="aa0e8b071bd5d432229b0f31ef839c3f3"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#aa0e8b071bd5d432229b0f31ef839c3f3">swing_fe_pos_des_W</a></td></tr>
<tr class="memdesc:aa0e8b071bd5d432229b0f31ef839c3f3"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired swing foot end position in world frame <br /></td></tr>
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<tr class="memitem:a286e3619258ff05a05c1c7858caa03fa"><td class="memItemLeft" align="right" valign="top"><a id="a286e3619258ff05a05c1c7858caa03fa"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a286e3619258ff05a05c1c7858caa03fa">swing_fe_rpy_des_W</a></td></tr>
<tr class="memdesc:a286e3619258ff05a05c1c7858caa03fa"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired swing foot end angle position in world frame <br /></td></tr>
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<tr class="memitem:a9a0d5709c566c7421d44f0e8beda62c2"><td class="memItemLeft" align="right" valign="top"><a id="a9a0d5709c566c7421d44f0e8beda62c2"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a9a0d5709c566c7421d44f0e8beda62c2">stance_fe_pos_cur_W</a></td></tr>
<tr class="memdesc:a9a0d5709c566c7421d44f0e8beda62c2"><td class="mdescLeft">&#160;</td><td class="mdescRight">current stance foot end position in world frame <br /></td></tr>
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<tr class="memitem:a0afb2e446d4c0caedd5c4e0f97695f34"><td class="memItemLeft" align="right" valign="top"><a id="a0afb2e446d4c0caedd5c4e0f97695f34"></a>
Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a0afb2e446d4c0caedd5c4e0f97695f34">stance_fe_rot_cur_W</a></td></tr>
<tr class="memdesc:a0afb2e446d4c0caedd5c4e0f97695f34"><td class="mdescLeft">&#160;</td><td class="mdescRight">current stance foot end angle position in world frame <br /></td></tr>
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<tr class="memitem:abbf1e7f7fea2191d05ce3252ae52e879"><td class="memItemLeft" align="right" valign="top"><a id="abbf1e7f7fea2191d05ce3252ae52e879"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#abbf1e7f7fea2191d05ce3252ae52e879">wbc_delta_q_final</a></td></tr>
<tr class="memdesc:abbf1e7f7fea2191d05ce3252ae52e879"><td class="mdescLeft">&#160;</td><td class="mdescRight">final generalized position increment after wbc computing <br /></td></tr>
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<tr class="memitem:ade7bf3a259767473423ff44a178b8dc1"><td class="memItemLeft" align="right" valign="top"><a id="ade7bf3a259767473423ff44a178b8dc1"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ade7bf3a259767473423ff44a178b8dc1">wbc_dq_final</a></td></tr>
<tr class="memdesc:ade7bf3a259767473423ff44a178b8dc1"><td class="mdescLeft">&#160;</td><td class="mdescRight">final generalized velocity after wbc computing <br /></td></tr>
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<tr class="memitem:ad65ef145124b588a62c1505a9acf3767"><td class="memItemLeft" align="right" valign="top"><a id="ad65ef145124b588a62c1505a9acf3767"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ad65ef145124b588a62c1505a9acf3767">wbc_ddq_final</a></td></tr>
<tr class="memdesc:ad65ef145124b588a62c1505a9acf3767"><td class="mdescLeft">&#160;</td><td class="mdescRight">final generalized acceleration after wbc computing <br /></td></tr>
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<tr class="memitem:a65528a5d511f22b2ba35d544460d0926"><td class="memItemLeft" align="right" valign="top"><a id="a65528a5d511f22b2ba35d544460d0926"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a65528a5d511f22b2ba35d544460d0926">wbc_tauJointRes</a></td></tr>
<tr class="memdesc:a65528a5d511f22b2ba35d544460d0926"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired torque of joint after wbc computing <br /></td></tr>
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<tr class="memitem:af87720bdc128aaf11f6496200af1a1f9"><td class="memItemLeft" align="right" valign="top"><a id="af87720bdc128aaf11f6496200af1a1f9"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#af87720bdc128aaf11f6496200af1a1f9">wbc_FrRes</a></td></tr>
<tr class="memdesc:af87720bdc128aaf11f6496200af1a1f9"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired ground reaction force after wbc computing <br /></td></tr>
<tr class="separator:af87720bdc128aaf11f6496200af1a1f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a79a32e4d61bd3d1d9026230669cf418f"><td class="memItemLeft" align="right" valign="top">Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a79a32e4d61bd3d1d9026230669cf418f">Fr_ff</a></td></tr>
<tr class="memdesc:a79a32e4d61bd3d1d9026230669cf418f"><td class="mdescLeft">&#160;</td><td class="mdescRight">feedforwrd force (ground reaction force) computed by <a class="el" href="classMPC.html" title="This class implements the model predictive controller.">MPC</a>, is the first horizon result of fe_react_tau_cmd.  <a href="structDataBus.html#a79a32e4d61bd3d1d9026230669cf418f">More...</a><br /></td></tr>
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<tr class="memitem:a3d8447bc1e464140c5fa6b50a5df2ce0"><td class="memItemLeft" align="right" valign="top"><a id="a3d8447bc1e464140c5fa6b50a5df2ce0"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a3d8447bc1e464140c5fa6b50a5df2ce0">qp_nWSR</a></td></tr>
<tr class="memdesc:a3d8447bc1e464140c5fa6b50a5df2ce0"><td class="mdescLeft">&#160;</td><td class="mdescRight">QP solver parameter. <br /></td></tr>
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<tr class="memitem:a0c65dc5887bec780cbb0b8b421e9b478"><td class="memItemLeft" align="right" valign="top"><a id="a0c65dc5887bec780cbb0b8b421e9b478"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a0c65dc5887bec780cbb0b8b421e9b478">qp_cpuTime</a></td></tr>
<tr class="memdesc:a0c65dc5887bec780cbb0b8b421e9b478"><td class="mdescLeft">&#160;</td><td class="mdescRight">QP solving time limit. <br /></td></tr>
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<tr class="memitem:a34bcde8ab49fc624a23771e8972248ed"><td class="memItemLeft" align="right" valign="top"><a id="a34bcde8ab49fc624a23771e8972248ed"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a34bcde8ab49fc624a23771e8972248ed">qp_status</a></td></tr>
<tr class="memdesc:a34bcde8ab49fc624a23771e8972248ed"><td class="mdescLeft">&#160;</td><td class="mdescRight">QP solving outcomes (successful or not) <br /></td></tr>
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<tr class="memitem:a10764ddec95c7b01b4d00e75c19e4b48"><td class="memItemLeft" align="right" valign="top"><a id="a10764ddec95c7b01b4d00e75c19e4b48"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a10764ddec95c7b01b4d00e75c19e4b48">swingStartPos_W</a></td></tr>
<tr class="memdesc:a10764ddec95c7b01b4d00e75c19e4b48"><td class="mdescLeft">&#160;</td><td class="mdescRight">swing foot end start position in world frame <br /></td></tr>
<tr class="separator:a10764ddec95c7b01b4d00e75c19e4b48"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3652b688142afa51a891a01bce471566"><td class="memItemLeft" align="right" valign="top"><a id="a3652b688142afa51a891a01bce471566"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a3652b688142afa51a891a01bce471566">swingDesPosCur_L</a></td></tr>
<tr class="memdesc:a3652b688142afa51a891a01bce471566"><td class="mdescLeft">&#160;</td><td class="mdescRight">current desired swing foot end position in body frame <br /></td></tr>
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<tr class="memitem:a872d4c01ddcc325893e0593a82a53653"><td class="memItemLeft" align="right" valign="top"><a id="a872d4c01ddcc325893e0593a82a53653"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a872d4c01ddcc325893e0593a82a53653">stanceDesPos_W</a></td></tr>
<tr class="memdesc:a872d4c01ddcc325893e0593a82a53653"><td class="mdescLeft">&#160;</td><td class="mdescRight">stance foot position in world frame <br /></td></tr>
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<tr class="memitem:a2dd269f857bfd6dd3928e524b0b41b05"><td class="memItemLeft" align="right" valign="top"><a id="a2dd269f857bfd6dd3928e524b0b41b05"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a2dd269f857bfd6dd3928e524b0b41b05">posHip_W</a></td></tr>
<tr class="memdesc:a2dd269f857bfd6dd3928e524b0b41b05"><td class="mdescLeft">&#160;</td><td class="mdescRight">hip position in world frame <br /></td></tr>
<tr class="separator:a2dd269f857bfd6dd3928e524b0b41b05"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4c5b5784c198db0660db285b308a541f"><td class="memItemLeft" align="right" valign="top"><a id="a4c5b5784c198db0660db285b308a541f"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a4c5b5784c198db0660db285b308a541f">desV_W</a></td></tr>
<tr class="memdesc:a4c5b5784c198db0660db285b308a541f"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired body linear velocity in world frame <br /></td></tr>
<tr class="separator:a4c5b5784c198db0660db285b308a541f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac20879543c05bf3efff2d60a0e3b30b2"><td class="memItemLeft" align="right" valign="top"><a id="ac20879543c05bf3efff2d60a0e3b30b2"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ac20879543c05bf3efff2d60a0e3b30b2">desWz_W</a></td></tr>
<tr class="memdesc:ac20879543c05bf3efff2d60a0e3b30b2"><td class="mdescLeft">&#160;</td><td class="mdescRight">desired yaw-angular velocity in world frame <br /></td></tr>
<tr class="separator:ac20879543c05bf3efff2d60a0e3b30b2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2e4fb0dfd07ba322070e3bd6b204e33"><td class="memItemLeft" align="right" valign="top"><a id="ac2e4fb0dfd07ba322070e3bd6b204e33"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ac2e4fb0dfd07ba322070e3bd6b204e33">theta0</a></td></tr>
<tr class="memdesc:ac2e4fb0dfd07ba322070e3bd6b204e33"><td class="mdescLeft">&#160;</td><td class="mdescRight">offset yaw angle of the swing foot(+pi/2 for left and -pi/2 for right), w.r.t body frame <br /></td></tr>
<tr class="separator:ac2e4fb0dfd07ba322070e3bd6b204e33"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a97c72f31ccfbc780ca768b6df47d5b8b"><td class="memItemLeft" align="right" valign="top"><a id="a97c72f31ccfbc780ca768b6df47d5b8b"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a97c72f31ccfbc780ca768b6df47d5b8b">width_hips</a></td></tr>
<tr class="memdesc:a97c72f31ccfbc780ca768b6df47d5b8b"><td class="mdescLeft">&#160;</td><td class="mdescRight">distance between the left and right hip <br /></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a0872af337cf744df13666d1ca70ddfab">tSwing</a></td></tr>
<tr class="memdesc:a0872af337cf744df13666d1ca70ddfab"><td class="mdescLeft">&#160;</td><td class="mdescRight">swing period <br /></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a356f98de11378aa6fbdf67c6076a6868">phi</a></td></tr>
<tr class="memdesc:a356f98de11378aa6fbdf67c6076a6868"><td class="mdescLeft">&#160;</td><td class="mdescRight">phase varialbe for trajectory generation, must between 0 and 1, used in footPlacement, phi = 1 means stance foot transition <br /></td></tr>
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<tr class="memitem:a55ce7b18613eaea0e8983d697b816e9a"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a55ce7b18613eaea0e8983d697b816e9a">thetaZ_des</a> {0}</td></tr>
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<a class="el" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7e">LegState</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#af3616a7ffbfec988f239485c4b550a2f">legState</a></td></tr>
<tr class="memdesc:af3616a7ffbfec988f239485c4b550a2f"><td class="mdescLeft">&#160;</td><td class="mdescRight">current leg stance state <br /></td></tr>
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<a class="el" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7e">LegState</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a4047b0d4ca169264a0388439313b63d9">legStateNext</a></td></tr>
<tr class="memdesc:a4047b0d4ca169264a0388439313b63d9"><td class="mdescLeft">&#160;</td><td class="mdescRight">next leg stance state <br /></td></tr>
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Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#ad72d44b623e1a141956ca249cb3dfe58">base_pos_stand</a></td></tr>
<tr class="memdesc:ad72d44b623e1a141956ca249cb3dfe58"><td class="mdescLeft">&#160;</td><td class="mdescRight">baselink position when standing <br /></td></tr>
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Eigen::Matrix&lt; double, 6, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>pfeW_stand</b></td></tr>
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Eigen::Matrix&lt; double, 6, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDataBus.html#a9dc54fcc0ad8516e2a92bbc8a8689cfa">pfeW0</a></td></tr>
<tr class="memdesc:a9dc54fcc0ad8516e2a92bbc8a8689cfa"><td class="mdescLeft">&#160;</td><td class="mdescRight">TODO. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>The software model for data transporting. </p>
<p>This class stores all the data needed to be transported general information flow is: MJInterface -&gt; <a class="el" href="classPin__KinDyn.html" title="This class implement the kinematic and dynamics of robot using pinocchio.">Pin_KinDyn</a> -&gt; gaitScheduler -&gt; footPlacement -&gt; <a class="el" href="classMPC.html" title="This class implements the model predictive controller.">MPC</a> -&gt; WBC -&gt; <a class="el" href="classPVT__Ctr.html" title="This class implemented a position and velocity based low-level PD motor controller.">PVT_Ctr</a> </p>

<p class="definition">Definition at line <a class="el" href="data__bus_8h_source.html#l00022">22</a> of file <a class="el" href="data__bus_8h_source.html">data_bus.h</a>.</p>
</div><h2 class="groupheader">Member Enumeration Documentation</h2>
<a id="a0dcb8a4552bb6b37259a61d601cd7d7e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0dcb8a4552bb6b37259a61d601cd7d7e">&#9670;&nbsp;</a></span>LegState</h2>

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          <td class="memname">enum <a class="el" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7e">DataBus::LegState</a></td>
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<p>enum current leg stance states </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec"></a>LSt&#160;</td><td class="fielddoc"><p>left leg stance </p>
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<tr><td class="fieldname"><a id="a0dcb8a4552bb6b37259a61d601cd7d7ea4b29d84a010b44b9b4110be2183ab3a2"></a>DSt&#160;</td><td class="fielddoc"><p>no use but reserverd </p>
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<p class="definition">Definition at line <a class="el" href="data__bus_8h_source.html#l00164">164</a> of file <a class="el" href="data__bus_8h_source.html">data_bus.h</a>.</p>

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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a2fe45f9893482708677ee68305685b72"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2fe45f9893482708677ee68305685b72">&#9670;&nbsp;</a></span>DataBus()</h2>

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          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>model_nvIn</em></td><td>)</td>
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<p>Construct a new Data Bus object. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">model_nvIn</td><td>the number of generalized cooridnate, i.e. the number of nv or dq </td></tr>
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<p class="definition">Definition at line <a class="el" href="data__bus_8h_source.html#l00185">185</a> of file <a class="el" href="data__bus_8h_source.html">data_bus.h</a>.</p>

<p class="reference">References <a class="el" href="data__bus_8h_source.html#l00130">base_pos_des</a>, <a class="el" href="data__bus_8h_source.html#l00129">base_rpy_des</a>, <a class="el" href="data__bus_8h_source.html#l00052">ddq</a>, <a class="el" href="data__bus_8h_source.html#l00131">des_ddq</a>, <a class="el" href="data__bus_8h_source.html#l00133">des_delta_q</a>, <a class="el" href="data__bus_8h_source.html#l00132">des_dq</a>, <a class="el" href="data__bus_8h_source.html#l00051">dq</a>, <a class="el" href="data__bus_8h_source.html#l00092">dqCmd</a>, <a class="el" href="data__bus_8h_source.html#l00121">dX_cal</a>, <a class="el" href="data__bus_8h_source.html#l00122">fe_react_tau_cmd</a>, <a class="el" href="data__bus_8h_source.html#l00040">FL_est</a>, <a class="el" href="data__bus_8h_source.html#l00041">FR_est</a>, <a class="el" href="data__bus_8h_source.html#l00144">Fr_ff</a>, <a class="el" href="data__bus_8h_source.html#l00109">js_eul_des</a>, <a class="el" href="data__bus_8h_source.html#l00111">js_omega_des</a>, <a class="el" href="data__bus_8h_source.html#l00110">js_pos_des</a>, <a class="el" href="data__bus_8h_source.html#l00112">js_vel_des</a>, <a class="el" href="data__bus_8h_source.html#l00023">model_nv</a>, <a class="el" href="data__bus_8h_source.html#l00037">motors_pos_cur</a>, <a class="el" href="data__bus_8h_source.html#l00044">motors_pos_des</a>, <a class="el" href="data__bus_8h_source.html#l00039">motors_tor_cur</a>, <a class="el" href="data__bus_8h_source.html#l00046">motors_tor_des</a>, <a class="el" href="data__bus_8h_source.html#l00047">motors_tor_out</a>, <a class="el" href="data__bus_8h_source.html#l00038">motors_vel_cur</a>, <a class="el" href="data__bus_8h_source.html#l00045">motors_vel_des</a>, <a class="el" href="data__bus_8h_source.html#l00050">q</a>, <a class="el" href="data__bus_8h_source.html#l00091">qCmd</a>, <a class="el" href="data__bus_8h_source.html#l00053">qOld</a>, <a class="el" href="data__bus_8h_source.html#l00093">tauJointCmd</a>, <a class="el" href="data__bus_8h_source.html#l00120">X_cal</a>, <a class="el" href="data__bus_8h_source.html#l00115">X_cur</a>, and <a class="el" href="data__bus_8h_source.html#l00114">Xd</a>.</p>

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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ad2308a852d46c6b1471c2253bd129620">&#9670;&nbsp;</a></span>eul2quat()</h2>

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          <td>(</td>
          <td class="paramtype">double&#160;</td>
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          <td class="paramname"><em>yaw</em>&#160;</td>
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<p>compute quaternoin from euler angle </p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">roll</td><td>rotating about x-axis </td></tr>
    <tr><td class="paramname">pitch</td><td>rotating about y-axis </td></tr>
    <tr><td class="paramname">yaw</td><td>rotating about z-axis </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>Eigen::Quaterniond </dd></dl>

<p class="definition">Definition at line <a class="el" href="data__bus_8h_source.html#l00317">317</a> of file <a class="el" href="data__bus_8h_source.html">data_bus.h</a>.</p>

<p class="reference">References <a class="el" href="data__bus_8h_source.html#l00295">eul2Rot()</a>.</p>

<p class="reference">Referenced by <a class="el" href="data__bus_8h_source.html#l00224">updateQ()</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#af2ffb1739963462a7dfc20fc1e4a6192">&#9670;&nbsp;</a></span>eul2Rot()</h2>

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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>roll</em>, </td>
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          <td class="paramname"><em>pitch</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>yaw</em>&#160;</td>
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<p>compute the rotation matrix using euler angle </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">roll</td><td>rotating about x-axis </td></tr>
    <tr><td class="paramname">pitch</td><td>rotating about y-axis </td></tr>
    <tr><td class="paramname">yaw</td><td>rotating about z-axis </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Eigen::Matrix&lt;double, 3, 3&gt; </dd></dl>

<p class="definition">Definition at line <a class="el" href="data__bus_8h_source.html#l00295">295</a> of file <a class="el" href="data__bus_8h_source.html">data_bus.h</a>.</p>

<p class="reference">Referenced by <a class="el" href="data__bus_8h_source.html#l00317">eul2quat()</a>, and <a class="el" href="data__bus_8h_source.html#l00224">updateQ()</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#addcaefa0eeba96ed370e8b24e4ebd940">&#9670;&nbsp;</a></span>printdq()</h2>

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          <td class="memname">static void DataBus::printdq </td>
          <td>(</td>
          <td class="paramtype">const Eigen::VectorXd &amp;&#160;</td>
          <td class="paramname"><em>q</em></td><td>)</td>
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<p>print the information of dq to the terminal </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">q</td><td>the generalized velocity </td></tr>
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  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="data__bus_8h_source.html#l00264">264</a> of file <a class="el" href="data__bus_8h_source.html">data_bus.h</a>.</p>

<p class="reference">References <a class="el" href="data__bus_8h_source.html#l00050">q</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a8879e68efdd97fdada83e7b28b3c4bca">&#9670;&nbsp;</a></span>printq()</h2>

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          <td class="memname">static void DataBus::printq </td>
          <td>(</td>
          <td class="paramtype">const Eigen::VectorXd &amp;&#160;</td>
          <td class="paramname"><em>q</em></td><td>)</td>
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<p>print the information of q to the terminal </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">q</td><td>the generalized postition </td></tr>
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  </dd>
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<p class="definition">Definition at line <a class="el" href="data__bus_8h_source.html#l00278">278</a> of file <a class="el" href="data__bus_8h_source.html">data_bus.h</a>.</p>

<p class="reference">References <a class="el" href="data__bus_8h_source.html#l00050">q</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a1673b53d2c783faaf80cb549c2065d78">&#9670;&nbsp;</a></span>updateQ()</h2>

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<p>update q (generalized coordinate) according to sensor values </p>
<dl class="section warning"><dt>Warning</dt><dd>must update sensor values before </dd></dl>
<dl class="section see"><dt>See also</dt><dd>updateSensorValues() use it to update sensor value </dd></dl>

<p class="definition">Definition at line <a class="el" href="data__bus_8h_source.html#l00224">224</a> of file <a class="el" href="data__bus_8h_source.html">data_bus.h</a>.</p>

<p class="reference">References <a class="el" href="data__bus_8h_source.html#l00102">base_omega_W</a>, <a class="el" href="data__bus_8h_source.html#l00066">base_pos</a>, <a class="el" href="data__bus_8h_source.html#l00069">base_rot</a>, <a class="el" href="data__bus_8h_source.html#l00103">base_rpy</a>, <a class="el" href="data__bus_8h_source.html#l00036">baseAngVel</a>, <a class="el" href="data__bus_8h_source.html#l00034">baseLinVel</a>, <a class="el" href="data__bus_8h_source.html#l00033">basePos</a>, <a class="el" href="data__bus_8h_source.html#l00051">dq</a>, <a class="el" href="data__bus_8h_source.html#l00317">eul2quat()</a>, <a class="el" href="data__bus_8h_source.html#l00295">eul2Rot()</a>, <a class="el" href="data__bus_8h_source.html#l00023">model_nv</a>, <a class="el" href="data__bus_8h_source.html#l00037">motors_pos_cur</a>, <a class="el" href="data__bus_8h_source.html#l00038">motors_vel_cur</a>, <a class="el" href="data__bus_8h_source.html#l00050">q</a>, <a class="el" href="data__bus_8h_source.html#l00053">qOld</a>, and <a class="el" href="data__bus_8h_source.html#l00030">rpy</a>.</p>

<p class="reference">Referenced by <a class="el" href="MJ__interface_8cpp_source.html#l00085">MJ_Interface::dataBusWrite()</a>.</p>

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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a79a32e4d61bd3d1d9026230669cf418f">&#9670;&nbsp;</a></span>Fr_ff</h2>

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          <td class="memname">Eigen::VectorXd DataBus::Fr_ff</td>
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<p>feedforwrd force (ground reaction force) computed by <a class="el" href="classMPC.html" title="This class implements the model predictive controller.">MPC</a>, is the first horizon result of fe_react_tau_cmd. </p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="structDataBus.html#afd875c0de2f7f46587f3ebe4ae73d2fa" title="desired ground reaction force predicted by MPC during all the horizons">fe_react_tau_cmd</a> </dd></dl>

<p class="definition">Definition at line <a class="el" href="data__bus_8h_source.html#l00144">144</a> of file <a class="el" href="data__bus_8h_source.html">data_bus.h</a>.</p>

<p class="reference">Referenced by <a class="el" href="data__bus_8h_source.html#l00185">DataBus()</a>, <a class="el" href="wbc__priority_8cpp_source.html#l00073">WBC_priority::dataBusRead()</a>, and <a class="el" href="mpc_8cpp_source.html#l00453">MPC::dataBusWrite()</a>.</p>

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<a id="a55ce7b18613eaea0e8983d697b816e9a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a55ce7b18613eaea0e8983d697b816e9a">&#9670;&nbsp;</a></span>thetaZ_des</h2>

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          <td class="memname">double DataBus::thetaZ_des {0}</td>
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<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000001">Deprecated:</a></b></dt><dd>desired yaw angle of the body </dd></dl>

<p class="definition">Definition at line <a class="el" href="data__bus_8h_source.html#l00171">171</a> of file <a class="el" href="data__bus_8h_source.html">data_bus.h</a>.</p>

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<hr/>The documentation for this struct was generated from the following file:<ul>
<li><a class="el" href="data__bus_8h_source.html">data_bus.h</a></li>
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